CN116147633A

CN116147633A - Method, device, equipment and storage medium for planning operation route of movable equipment

Info

Publication number: CN116147633A
Application number: CN202310184758.4A
Authority: CN
Inventors: 吴斌; 姚国宁; 吴尧晓; 尹超禹; 陈杰
Original assignee: Guangzhou Xaircraft Technology Co Ltd
Current assignee: Guangzhou Xaircraft Technology Co Ltd
Priority date: 2023-02-28
Filing date: 2023-02-28
Publication date: 2023-05-23

Abstract

The embodiment of the invention discloses a method, a device, equipment and a storage medium for planning a working route of movable equipment, and relates to the technical field of equipment control. The method comprises the following steps: acquiring a first boundary for limiting the position of one end point of a working section of the movable equipment; acquiring a reference operation road section of the movable equipment, and generating other operation road sections parallel to the reference operation road section; and acquiring a second boundary for limiting the positions of the other end points of the reference operation road section and the rest operation road sections, and updating to obtain the planned operation route of the movable equipment. According to the technical scheme, the planning of the operation route can be realized by determining one boundary condition of the operation road section, the reference operation road section and the other boundary condition, the actual operation process is simple, convenient and quick, the operation effect is visual, and the use experience of a user can be improved.

Description

Method, device, equipment and storage medium for planning operation route of movable equipment

Technical Field

The embodiment of the application relates to the technical field of route planning, in particular to a method, a device, equipment and a storage medium for planning a working route of movable equipment.

Background

With the development of mobile equipment technology, the application scenes of the mobile equipment are more and more, and the executed functions are also rich and diverse. For example, in the field of smart agriculture, farm operations such as seeding, pesticide spraying, crop detection, etc. are performed by unmanned aerial vehicles or unmanned vehicles, and the like, so that the agricultural operations are favored by vast agricultural users by virtue of no need of manual operations and convenience in operation.

In the related art, a movable device is taken as an example for spraying pesticides, and the movable device needs to define an area where a user needs to spray the pesticides to accurately perform work. However, in the conventional method for determining the work area, the landmark is often set at the inflection point position of the boundary line, or the position information is recorded, so that the work can be normally performed. However, for the operation of the user, the user needs to reach each inflection point to operate, so that more auxiliary operation links are brought to farmland work, and the operation efficiency is affected.

Disclosure of Invention

The embodiment of the invention provides a method, a device, equipment and a storage medium for planning a working route of movable equipment, which solve the problem that the movable equipment needs to spend a large amount of time to finish auxiliary work for confirming a working area before working in the related technology, greatly improve the working efficiency, simplify the actual operation of a user, ensure that the scheme is more convenient to land and is easy to accept by the user.

In a first aspect, an embodiment of the present invention provides a method for planning a working route of a mobile device, where the method includes:

acquiring a first boundary for limiting the position of one end point of a working section of the movable equipment;

acquiring a reference operation road section of the movable equipment, and generating other operation road sections parallel to the reference operation road section;

and acquiring a second boundary for limiting the positions of the other end points of the reference operation road section and the rest operation road sections, and updating to obtain the planned operation route of the movable equipment.

In a second aspect, an embodiment of the present invention further provides an apparatus for planning a working route of a mobile device, where the apparatus includes:

a first boundary acquisition module for acquiring a first boundary for limiting one end point position of a working section of the movable equipment;

the reference operation road section acquisition module is used for acquiring a reference operation road section of the movable equipment and generating other operation road sections parallel to the reference operation road section;

and the planned operation route determining module is used for acquiring a second boundary for limiting the positions of the other end points of the reference operation road section and the rest operation road sections, and updating to obtain the planned operation route of the movable equipment.

In a third aspect, an embodiment of the present invention further provides a job route planning apparatus for a mobile apparatus, where the apparatus includes: one or more processors; and the storage device is used for storing one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors are enabled to realize the operation route planning method of the movable equipment.

In a fourth aspect, embodiments of the present invention also provide a storage medium storing computer-executable instructions that, when executed by a computer processor, are configured to perform a method for job routing for a mobile device according to embodiments of the present invention.

In the embodiment of the invention, a first boundary for limiting the position of one end point of a working section of movable equipment is obtained; acquiring a reference operation road section of the movable equipment, and generating other operation road sections parallel to the reference operation road section; and acquiring a second boundary for limiting the positions of the other end points of the reference operation road section and the rest operation road sections, and updating to obtain the planned operation route of the movable equipment. According to the scheme, the first boundary of the operation road section is acquired, the reference operation road section is acquired, and the second boundary of the operation road section is acquired, so that operation of a user in the operation area determining process in the use process of the movable equipment can be simplified, the operation efficiency is improved, and the use experience of the user is improved.

Drawings

Fig. 1 is a flowchart of a method for planning a working route of a mobile device according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a first boundary determining process according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a first boundary determination result according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a determination process of a reference operation road section and other operation road sections provided in an embodiment of the present invention;

FIG. 5 is a schematic diagram of a determination result of a second boundary according to an embodiment of the present invention;

FIG. 6 is a flowchart of another method for planning a route of operation of a mobile device according to an embodiment of the present invention;

FIG. 7 is a flowchart of another method for planning a route of operation of a mobile device according to an embodiment of the present invention;

FIG. 8 is a schematic diagram of a crop boundary dotting process according to an embodiment of the present invention;

FIG. 9 is a flowchart of another method for planning a route of operation of a mobile device according to an embodiment of the present invention;

FIG. 10 is a schematic diagram of a first boundary and a second boundary determining process according to an embodiment of the present invention;

fig. 11 is a schematic block diagram of a working route planning apparatus for a mobile device according to an embodiment of the present invention;

Fig. 12 is a schematic structural diagram of a working route planning device for a mobile device according to an embodiment of the present invention.

Detailed Description

Technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application are within the scope of the protection of the present application.

The terms first, second and the like in the description and in the claims, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged, as appropriate, such that embodiments of the present application may be implemented in sequences other than those illustrated or described herein, and that the objects identified by "first," "second," etc. are generally of a type and not limited to the number of objects, e.g., the first object may be one or more. Furthermore, in the description and claims, "and/or" means at least one of the connected objects, and the character "/", generally means that the associated object is an "or" relationship.

The following describes in detail the method for planning the operation route of the mobile device according to the embodiment of the present application through specific embodiments and application scenarios thereof with reference to the accompanying drawings.

According to the technical scheme, the planning of the operation road sections in the operation area is achieved based on a simple operation instruction of a user, a first boundary is determined preferentially in the planning process, then a reference operation road section is determined based on the operation instruction, further other operation road sections can be determined, and finally a planning result of each operation road section can be obtained after a second boundary is determined. In this process, compared with the prior art, the inflection point positions of the boundary lines and the like do not need to be recorded one by one, and the use process of the movable equipment is simplified.

In addition, there is a technology that a working area is determined based on a boundary line, and finally, the shape and parameters of crop rows are determined one by one from the working area, so that the planning of the working area is completed. Compared with the scheme, the method and the device completely remove the limitation of the operation area, and can simply, conveniently and quickly determine the standard operation road section and other operation road sections without starting from the determination of the operation area, thereby realizing rapid operation road section planning. The two schemes are designed from different angles, and the scheme can contact the technical barrier of preferentially determining the operation area, so that for the use of movable equipment, the use of the movable equipment is quite different for the rapid operation of crop rows, and the effect is more remarkable.

Fig. 1 is a flowchart of a method for planning a job route of a mobile device according to an embodiment of the present invention, where the method may be applicable to a scenario in which a mobile device is used to perform ordered jobs on job tasks within a certain range, and the method may be performed by a control end of the mobile device, where the control end may be integrated with the mobile device, and may also be designed independently of the mobile device, for example, may be designed as a handheld terminal of a user, or a remote control terminal, etc. The scheme specifically comprises the following steps:

s101, acquiring a first boundary for limiting the position of one end point of a working section of the movable equipment.

The mobile device may be an unmanned aerial vehicle, an unmanned vehicle, or the like, which itself integrates a mobile component. In addition, the movable device may be a device that requires an external additional moving member to move, similar to a robot arm or the like. The removable device may be integrated with communication functions for receiving instructions and issuing data, and may be integrated with processing functions.

In one embodiment, the mobile device may receive a control command sent by the control end. The control end can be a mobile phone terminal or other intelligent equipment of a user, and can also be a remote controller matched with the movable equipment. Wherein the mobile phone terminal or other intelligent device of the user can control the mobile device by downloading an application program or accessing a certain user interface.

The movable equipment can ascend to a preset height from the ground in the flight process and fly along a certain track. In the process, a user can draw a flight track through the mobile phone terminal, click a target place, and can determine the flight direction of the movable equipment through the direction key of the remote controller.

In this embodiment, a mobile device is taken as an example of an unmanned aerial vehicle.

The working section may be a row of crops in a farmland, such as a cultivation ridge or a cultivation plot of crops. When the unmanned aerial vehicle flies to one end point position of the operation road section, a user can acquire the position and the direction of the unmanned aerial vehicle by clicking a specific button. For example, after the user clicks the determination button, the unmanned aerial vehicle hovers at the position, and an extension line of the flight advancing direction of the unmanned aerial vehicle is displayed at the control end, so that the user can check whether the unmanned aerial vehicle coincides with or is parallel to the boundary line of the operation road section needing operation. In the case of coincidence, the user may click the ok button again to determine that the direction is that of the first boundary, and the specific location of the first boundary may be obtained in combination with the previously determined location. It will be appreciated that if not, a control command may be issued by the control terminal to cause the drone to rotate in situ until the extension of the heading coincides with the boundary line of the working section.

As understood in connection with a plurality of cultivation ridges, the first boundary may be an aligned position of one end of the plurality of cultivation ridges. The user can confirm whether the advancing direction of unmanned aerial vehicle coincides with first boundary through the in-situ observation of operation in-process, perhaps through the image generation top view that unmanned aerial vehicle took to the real-time position and the real-time gesture of unmanned aerial vehicle are fitted to the top view, and then discern whether unmanned aerial vehicle aligns with the one end of many cultivation ridges.

Fig. 2 is a schematic diagram of a first boundary determining procedure according to an embodiment of the present invention. As shown in fig. 2, the operation area where the user actually needs to operate may be shown as a plurality of gray areas in fig. 2, based on which the operation section of the unmanned aerial vehicle in the operation area may be estimated, for example, the end point of the operation section may be at the edge in the width direction of the gray area or at a position within the operation area and set at a distance from the edge, so that the unmanned aerial vehicle may be controlled to fly to a position corresponding to one of the end points of the operation section, and the pointing information of the unmanned aerial vehicle may be controlled to coincide with the same side ends of the plurality of operation sections, and the first boundary may be determined based on the position and the direction.

Fig. 3 is a schematic diagram of a first boundary determination result according to an embodiment of the present invention. As shown in fig. 3, after determining to generate the first boundary, one end of all the job segments is cut off to the first boundary. Thus, preparation can be made for planning work of the subsequent working section.

By means of the arrangement, the first boundary can be determined only by simple operation of a user in the using process.

S102, acquiring a reference operation road section of the movable equipment, and generating other operation road sections parallel to the reference operation road section.

After determining the first boundary, the drone may be controlled to fly along one of the plurality of work sections, such as along the one of the tilling ridges on the very edge of the farmland where the user needs to work. The process may be determining a junction of the first boundary and a centerline of the cultivation ridge from which to fly along the centerline of the cultivation ridge. During the flight, the reference working section can be determined in combination with the position data of the unmanned aerial vehicle, or in combination with the direction of its flight.

In this solution, the determination manner of the remaining operation road sections may be that, after the reference operation road section is determined, the remaining operation road sections are determined according to preset operation parameters. For example, assuming that the operation parameters include mu amount and flying height, the route distance between the operation routes can be calculated according to mu amount and flying height, and then the rest operation sections are generated according to the parallel characteristics between the route distance and the routes; for another example, assuming that the operation parameters include route distances, the route distances need not be calculated, but the rest of the operation sections are generated directly based on the characteristics of the route distances and the parallelism between the routes.

It will be appreciated that the remaining working segments may be distributed on one side of the base working segment or on both sides. In this solution, a plurality of remaining operation sections may be determined simultaneously, or a fixed number of remaining operation sections may be determined each time, for example, 1 remaining operation section is determined each time, or 5 remaining operation sections are determined each time, and after the remaining operation sections are completed, another 1 or 5 remaining operation sections are generated again. In addition, in the process of determining the number of the rest of the operation sections, some information of the ground, such as the existence of isolation vegetation, ditches and the like, can be referred to, and when determining a plurality of rest of the operation sections, the isolation vegetation or ditches can be considered as boundaries, so that the accuracy of the generated rest of the operation sections can be improved.

The above-determined reference working section is determined based on the position through which the unmanned aerial vehicle is flown, or is determined in conjunction with the pointing direction in which it is flown. For example, the starting point of the unmanned aerial vehicle and the direction in which the front of the unmanned aerial vehicle is pointing, or a curve or a straight line fitted from the starting point of the starting flight to the flight trajectory obtained within a certain time, determines the reference working section. Therefore, only the position of one end defined by the first edge is determined, and the boundary of the other end is not determined, among the reference and remaining work sections obtained at this time, so it can be understood that the reference and remaining work sections obtained at this time are in a ray-like pattern. After the second boundary is subsequently determined, all rays may be truncated to obtain a reference working segment and the remaining working segments that correspond to the field length.

Fig. 4 is a schematic diagram of a determination process of a reference working section and the rest of working sections provided in an embodiment of the present invention. As shown in fig. 4, the user may control the unmanned aerial vehicle to start the operation along the first operation section in the field as shown in fig. 4, taking this as the reference operation section. On the basis of the determination of the reference working section, a plurality of remaining working sections parallel to the reference working section may be determined according to the corresponding working parameters. It can be understood that the gray area shown in the figure is a crop row in the field, and for the unmanned aerial vehicle or the control end of the unmanned aerial vehicle, the reference working section and the rest working sections actually obtained at this time are working sections extending infinitely along the pointing direction with the first boundary as the end point. In fig. 4, the remaining work segments are generated only on one side of the reference work segment, but may be generated simultaneously on both sides of the reference work segment when the remaining work segments are actually generated.

S103, acquiring a second boundary for limiting the positions of the other end points of the reference operation road section and the rest operation road sections, and updating to obtain the planned operation route of the movable equipment.

In this scheme, optionally, the obtaining manner of the other end point position may be that after the user sees that the unmanned aerial vehicle flies to reach the boundary of the other end of the cultivation ridge, the user clicks the confirm key or clicks the key for stopping the operation, and then the position of the unmanned aerial vehicle is obtained based on the operation instruction of the user. It will be appreciated that the user may be based on an operation instruction issued from a field view of the drone or an operation instruction issued from a view in a top view displayed in a screen containing the location of the drone.

After the other end point position is obtained, a broken line which can rotate around the position can be displayed for the user, and the user can determine the second boundary of the working road section by rotating the broken line until the broken line is aligned with the other ends of the cultivation ridges. The second boundary may also be automatically generated in a more simple and fast manner, e.g. based on a top view after determining the position of the other end point, or in parallel with the first boundary after determining the position of the other end point, without this being too restrictive.

After the second boundary is determined, a cutting effect is generated on the previously generated reference operation road section and the rest operation road sections, and then the actual operation road sections are obtained.

Fig. 5 is a schematic diagram of a determination result of a second boundary according to an embodiment of the present invention. As shown in fig. 5, the user may control the unmanned aerial vehicle to start a job along a first job segment in the field as shown in fig. 5, and when reaching an end position of the segment, by clicking a button for stopping the job, let the unmanned aerial vehicle stop the job and acquire a position for stopping the job. Based on this position, a line can be generated that is aligned with the other ends of all the in-field working sections, i.e. the second boundary. Specifically, the manner of determining the second boundary is as described above, and is not described herein.

By combining the steps, the operation sections can be clarified after the simple operation of a user, and in the process of controlling the unmanned aerial vehicle to fly along the first operation section (such as the reference operation section), the unmanned aerial vehicle can be controlled to operate simultaneously, the second boundary is acquired after the operation is finished, the rest operation sections can be updated and the operation is continued after the second boundary is acquired, so that the determination of all operation sections in the whole operation task is completed more efficiently, the efficiency of the operation section determination process is improved, the operation can be simplified, the user can feel easier to get on hand, and the use experience of the user is improved.

In one embodiment, optionally, after updating the proposed route of the mobile device, the method further comprises:

determining a target working route of the movable equipment from the planned working route based on a fourth operation instruction; the fourth operation instruction comprises a steering operation instruction sent from the first control end or a selection operation instruction sent from the second control end.

It will be appreciated that if the proposed route is generated based on the reference road segment and is distributed on both sides of the reference road segment, the left or right side of the reference road segment may be determined to be valid based on a further operation by the user. Therefore, the planned route can be obtained, that is, the cut-off processing is performed, and the planned route section of the actual required job can be determined further according to the operation instruction of the user. For example, the user may click or trace through the mobile phone terminal to select a section of the work to be done on one side, and the other side is considered as an invalid section of the work to be done, and gradually disappears in the display screen. The user can control the unmanned aerial vehicle to perform left or right line feed operation through the remote controller, so that the to-be-made operation road section positioned on the corresponding side of the reference operation road section is selected, and the other side of the to-be-made operation road section is regarded as an invalid to-be-made operation road section, and the to-be-made operation road section can be synchronously displayed in the display screen of the mobile phone terminal.

The embodiment can provide a simple and convenient selection mode for generating the simulated road section on two sides on the basis of the embodiment. Through the mode, the user can complete selection in the process of controlling the actual operation of the unmanned aerial vehicle, and the planning result conforming to the operation road section of the field is obtained, so that the operation efficiency and the accuracy of the planning result can be improved, and the user can flexibly select the operation road section conveniently.

Fig. 6 is a flowchart of another method for planning a working route of a mobile device according to an embodiment of the present invention, where the embodiment is specifically optimized: acquiring a first boundary for limiting one of the end point positions of the working road segment of the movable device, comprising: acquiring first position information and first direction information of the movable equipment according to a first dotting instruction; and determining a first boundary according to the first position information and the first direction information. As shown in fig. 6, the scheme specifically includes the following steps:

s601, acquiring first position information and first direction information of the movable equipment according to a first dotting instruction.

The first dotting instruction can be an instruction sent by a user through a remote controller or a mobile phone terminal, for example, a specific key or a plurality of combined keys in the remote controller is clicked to send the dotting instruction. In addition, the dotting instruction may be issued by the mobile phone terminal, for example, clicking a dotting instruction button in the application program. In distinction from the above two, the dotting instruction may also be a status instruction, for example, the unmanned aerial vehicle is controlled to be in a dotting status by a remote controller or a mobile phone terminal, so that the unmanned aerial vehicle can automatically collect position information and direction information every preset time or every occurrence of a triggering event in the flight process. For example, after the user sets the dotting state, the unmanned aerial vehicle recognizes the boundary position of the same plant in the flying process, and then automatically acquires the position information and the direction information.

In this embodiment, optionally, acquiring the first location information and the first direction information of the mobile device according to the first dotting instruction includes:

acquiring position information of a plurality of track points of the movable equipment in the dotting process so as to obtain first position information; fitting according to the position information of a plurality of track points in the first position information to obtain the first direction information, or obtaining the first direction information according to the connecting line of two track points with a preset interval in the first position information; or alternatively

And acquiring the current position information of the movable equipment to obtain first position information, and determining the first direction information based on the current direction of the movable equipment.

The dotting process of the movable equipment can be a boundary dotting mode such as boundary dotting of a land block or boundary dotting of a crop area. The boundary dotting mode can be understood as that the first direction information and the first position information acquired by the unmanned aerial vehicle directly refer to the direction and the position of the boundary of the crop area or the boundary of the land block. The following describes a plurality of acquisition modes of the first position information and the first direction information one by one:

first kind: under the condition that the first position information comprises a plurality of track point position information, the acquisition of the track point position information can be obtained by self-recording of an RTK positioning module in the unmanned aerial vehicle in the process of controlling the unmanned aerial vehicle to fly along the boundary. After the plurality of track point positions are obtained, the first direction information can be determined through fitting results of the plurality of track points. Here, in the fitting process, the fitting may be performed by a least square method or the like.

Second kind: when the first position information includes a plurality of track point position information, after the plurality of track point position information is obtained, the first direction information may also be obtained according to a connection line between two track points spaced from a preset distance. The preset distance interval may be an interval between the center lines of two adjacent crop rows, but is not limited thereto. For example, assuming that the width of each crop line is 80cm, the boundaries of two crop lines are spaced 10cm apart, and the center lines of the two crop lines are spaced 90cm apart. In other variant embodiments, the first position information may include only two track point position information, and based on this, the direction in which the line points may be determined directly based on the line connecting the two track points, that is, the first direction information. Under the situation, the unmanned aerial vehicle can be controlled to strike a point at a certain position on the boundary, and then the unmanned aerial vehicle is controlled to fly for a small distance along the boundary to stop striking a point, so that two track points can be obtained. The small distance may be 10cm, but the present application is not limited thereto, as long as points at two different positions on the boundary can be obtained, so that the connection line can be formed by connection.

Third kind: in addition to the above two ways, the first location information and the first direction information may also be determined by acquiring the location information and the direction information of a certain instruction received by the unmanned aerial vehicle after the unmanned aerial vehicle receives the instruction. For example, the user can position the unmanned aerial vehicle at a position corresponding to any point on the boundary of the crop area or the land block by adjusting the pose of the unmanned aerial vehicle, and point the unmanned aerial vehicle in the direction of the boundary at the current position, so that the obtained current position information and the current direction of the unmanned aerial vehicle are the first position information and the first direction information.

According to the scheme for determining the first position information and the first direction information, the first boundary can be accurately determined under the condition that a user easily perceives the first boundary, the operation is simple and convenient, excessive marks and positioning are not needed, and the scheme is more simple, convenient and feasible to realize.

S602, determining a first boundary according to the first position information and the first direction information.

It will be appreciated that after locating the point through which a line passes and the direction of the line, the position of the line in space can be determined. Thus, after identifying the first location information and the first direction information, a first boundary may be determined.

S603, acquiring a reference operation road section of the movable equipment, and generating other operation road sections parallel to the reference operation road section.

S604, acquiring a second boundary for limiting the positions of the other end points of the reference operation road section and the rest operation road sections, and updating to obtain the planned operation route of the movable equipment.

The embodiment provides a specific determination mode of the first boundary on the basis of the above embodiments, and by executing the technical solution of the embodiment, the first boundary can be simply and quickly determined, and for the use of the user, the user is easy to use without doing excessive training and other works.

Fig. 7 is a flowchart of another method for planning a working route of a mobile device according to an embodiment of the present invention, where the embodiment is specifically optimized: acquiring a reference operation road section of the movable equipment, which comprises the following steps: acquiring current position and pointing information of the movable equipment according to a route generation instruction, determining a reference operation road section, or determining the reference operation road section according to traveling track information of the movable equipment in the process of starting the reference operation road section to stopping the reference operation road section; or determining the reference operation road section according to the starting position of the movable equipment when starting the reference operation road section to point and the ending position when stopping the reference operation road section to point. As shown in fig. 7, the scheme specifically includes the following steps:

S701, acquiring a first boundary for limiting the position of one end point of a working section of the movable equipment; and performs any one of steps S702, S703, and S704.

S702, acquiring current position and pointing information of the movable equipment according to a route generation instruction, and determining a reference operation road section.

The route generation instruction may be an instruction which is sent by the user through the control end and corresponds to a specific key, or may be a status instruction. The output of the route generation instruction can be realized, for example, by clicking a certain key, or the unmanned aerial vehicle can enter the route generation state, or the unmanned aerial vehicle can automatically enter the route generation state after completing the task of the last state, for example, after determining the first boundary.

The current position may be a position at which the first boundary intersects with a center line of a working road section, and the pointing information may be a direction along the center line of the working road section after the user adjusts. In this case, the user can start the work by controlling the unmanned aerial vehicle, and the unmanned aerial vehicle can perform the work along this work section, so that the work section can be determined as the reference work section. Typically, the reference work section is often the first work section of the work area.

In an actual scenario, the user may control the unmanned aerial vehicle to the first route in the target operation area through the remote controller, wherein the user has already set relevant operation parameters through the display terminal application program before starting the operation, or the user synchronizes to the application program by the cloud based on default operation parameters of the current operation type. Thus, after acquiring the first boundary, the user may empirically remotely control the drone to fly to the starting point where the operation begins and control the drone nose toward the direction of the operation, where the direction of the operation may be acquired simultaneously with the starting point. For example, after the unmanned aerial vehicle is controlled to fly to the operation starting point, the unmanned aerial vehicle is controlled to face the operation direction, and then a determination button is clicked. In addition, the unmanned aerial vehicle can be obtained separately, for example, when the unmanned aerial vehicle is controlled to fly to the operation starting point, a determination button is clicked, then the unmanned aerial vehicle is controlled to face the operation direction, and the determination button is clicked again, so that the unmanned aerial vehicle can be obtained in two steps. Thus, the reference work section can be generated based on the work start point and the work direction.

In this scheme, the reference job route may be determined based on the current position and pointing information of the movable apparatus after the user issues or automatically implements the route generation instruction.

S703, determining the reference operation road section according to the traveling track information of the movable equipment in the process of starting the reference operation road section to stopping the reference operation road section.

The starting of the reference operation road section dotting may be that the user controls the unmanned aerial vehicle to determine a track generated by the current flight as the reference operation road section. The process can acquire the track information of the unmanned aerial vehicle, and obtain the position information of a plurality of points of the reference operation road section. The scheme can be used for fitting in a least square method mode or other modes based on the position information of a plurality of points to obtain a reference operation road section.

It can be appreciated that the fitting result of the present scheme may be a straight line or a curve. By such arrangement, the present embodiment can cope with a case where the work section is not strictly straight, and also with a case where the area where the work section is located is not a regular geometric shape. The scheme is designed in such a way, the application scene of the scheme can be enlarged, and the actual requirements of agricultural production can be met.

And S704, determining the reference operation road section according to the starting position of the movable equipment when starting the reference operation road section dotting and the ending position when stopping the reference operation road section dotting.

In the scheme, a user can control the unmanned aerial vehicle to perform dotting on positions corresponding to a starting point and a destination of a desired operation road section respectively, namely, position information of the starting point and the destination is acquired, namely, a starting position and a destination can be obtained, the two positions are the starting point and the destination of a reference operation road section, and a connecting line of the two positions is the reference operation road section.

Compared with other schemes, the scheme can realize the rapid determination of the reference operation road section, and a reference operation road section determined by the starting point and the end point is obtained. The scheme has the advantages of simple calculation mode, simple operation instruction and the like.

S705, generating the rest of the working links parallel to the reference working link.

S706, obtaining a second boundary for limiting the positions of the other end points of the reference operation road section and the rest operation road sections, and updating to obtain the planned operation route of the movable equipment.

According to the embodiment, the determination modes of the reference operation road sections are provided, and the scheme can cope with more complex agricultural production environments and can be realized through simple operation, so that the application range of the agricultural operation based on the movable equipment is wider, the operation of a user is facilitated, and the improvement of the operation efficiency is facilitated.

In the above embodiments, the reference operation road section may be obtained in a boundary dotting mode, or may be obtained in a route dotting mode, where boundary dotting refers to that the mobile device walks along the boundary and obtains the position information of the boundary, and in the boundary dotting mode, the user may control the unmanned aerial vehicle to perform dotting according to the position of the land parcel boundary or the crop area boundary. Route dotting refers to the movable equipment walking along a desired working path and acquiring the position information of the working path; in the route dotting mode, a user can control the unmanned aerial vehicle to fly along the central line of a certain crop row or lead the unmanned aerial vehicle to point to the central line, the obtained first position information and first direction information are the position information and direction information of the reference operation route directly, the reference operation route can be obtained without analysis processing in the boundary dotting mode, and the obtaining efficiency of the reference operation route can be improved.

Reference job segment acquisition in these two dotting modes will be described one by one:

a method of determining a reference work segment of a mobile device in the case where the reference work segment is acquired in a boundary dotting mode, comprising:

Determining current boundary information according to the current position and the pointing information of the movable equipment, or the travelling track information, or the starting position and the ending position; and determining the reference operation road section based on the current boundary information and the distance between the preset boundary and the route. The distance between the preset boundary and the route can be optionally input into the control end by a user, or can be automatically recommended by the control end according to the current crop type or the operation type or the situation, and is not limited herein; in addition, the current boundary information may be a certain crop boundary parallel to the desired direction of operation of the mobile device, or a certain parcel boundary.

Second) in the case where the reference work section of the movable apparatus is acquired in the route dotting mode, the step of determining the reference work section includes:

generating the reference operation road section by taking the current position of the movable equipment as a starting point and the pointing information as a traveling direction; or (b)

Taking the route generated by the travel track information as a reference operation road section; or (b)

And taking a connecting line between the starting position and the ending position as a reference working section.

In this solution, the current boundary information is determined according to the current position and pointing information of the movable device, or the travel track information, or the start position and end position. The specific determination method can refer to the foregoing, and is not described herein.

Fig. 8 is a schematic diagram of a crop boundary dotting process according to an embodiment of the present invention. As shown in fig. 8, the gray area in fig. 8 also represents a crop row, and the user may control the unmanned aerial vehicle to fly to the edge of the first crop row in the operation area where the operation needs to be started, then, with the goal of dotting the edge of the crop row, control the unmanned aerial vehicle to obtain the crop boundary line in the width direction of the crop row, which may be determined as the first boundary, and then control the unmanned aerial vehicle to obtain the crop boundary line in the length direction of the crop row, which may be referred to as a longitudinal crop boundary, for example, two lines with arrows in the drawing, so as to generate a plurality of operation road sections located at two sides of the longitudinal crop boundary based on the longitudinal crop boundary and the set operation parameters, such as the route distance, the route adjacent to the crop area boundary and the distance between adjacent boundaries. After that, it may be determined that the left or right side of the longitudinal crop boundary line is a valid operation section based on some subsequent determination operation by the user. Among the working sections available, one working section adjacent to the longitudinal crop boundary line can be determined as the reference working section. Subsequently, the unmanned aerial vehicle may perform the job along the generated reference job segment by itself until a stop job instruction is received. At this time, the user may further control the unmanned aerial vehicle to wrap to the next operation road section, so that the second boundary may be determined according to the wrapping path of the unmanned aerial vehicle, and then each operation road section may be updated through the second boundary based on the above-described scheme, which is not described herein.

Notably, for regional seeding operations, plots may be crop rows absent, and for such scenarios, adaptations may be made, for example, the boundaries described above may be obtained with plot boundaries instead of crop row references.

The embodiment provides a specific mode of dotting on the boundary of crops or on the boundary of land parcels on the basis of the above embodiments, and through the arrangement, a more flexible determination mode of the operation road section can be provided, so that the matching degree of the user with the actual demands in the using process of the unmanned aerial vehicle is improved, and the operation efficiency is also improved.

On the basis of the above embodiments, optionally, the method further includes:

the movable apparatus is controlled to execute a job in the process from starting the reference job segment to stopping the reference job segment.

It will be appreciated that in determining the reference work section for the mobile device, the mobile device may be controlled to perform a work, such as a seeding work, a pesticide spraying work, etc., during the mobile device's flight or travel along the reference work section. Through such setting, the power consumption of the movable equipment can be saved, the proportion of effective operation can be improved for the movable equipment with certain cruising ability, unnecessary energy consumption is reduced, the effective cruising mileage is increased, in addition, the operation can be started without determining a second boundary, and the improvement of the operation efficiency is facilitated.

Fig. 9 is a flowchart of another method for planning a working route of a mobile device according to an embodiment of the present invention, where the embodiment is specifically optimized: acquiring a second boundary for limiting the other end point positions of the reference operation road section and the remaining operation road sections, including: when the movable equipment moves to the end position of the reference operation road section along the reference operation road section, acquiring second position information and second direction information of the movable equipment according to a second dotting instruction; and determining a second boundary according to the second position information and the second direction information. As shown in fig. 9, the scheme specifically includes the following steps:

s901, a first boundary for limiting a position of one of end points of a working section of a movable apparatus is acquired.

S902, acquiring a reference operation road section of the movable equipment, and generating other operation road sections parallel to the reference operation road section.

S903, when the movable equipment moves to the end position of the reference operation road section along the reference operation road section, acquiring second position information and second direction information of the movable equipment according to a second dotting instruction.

The user can determine whether the movable device moves to the end position of the reference working road section based on field observation or not, and can also determine based on image information in the top view acquired by the movable device. The user may issue a second dotting instruction when determining to move to the end position of the reference work section. The second dotting instruction can be a dotting instruction for controlling the unmanned aerial vehicle in the switching process of the operation road section, and further, the second position information can be determined and obtained based on the point position information obtained by the unmanned aerial vehicle in the switching process and the second direction information can be determined based on the pointing directions of the point position information.

S904, determining a second boundary according to the second position information and the second direction information.

At the explicit second location information and said second direction information, a second boundary may be determined.

It will be appreciated that the second location information may be obtained in other ways than the above-described task section switching procedure. Such as manually drawn based on the user in an application of the mobile terminal, and other ways, not specifically limited herein.

In a possible embodiment, optionally, the first boundary and the second boundary are used to represent opposite boundary lines of a target plot area or a target crop edge area, or the first boundary and the second boundary are used to represent a straight line where a line-changing path between the planned working routes of the movable device is located or a straight line where a tangent line of the line-changing path is located.

The target land area is understood to mean that the land is not divided by crop rows, but the whole area is sown in the same way, for example wheat, and cultivation ridges are not divided. While the edge area of the target crop may be understood as the area defined by the outer edges of one or more crop rows.

When the unmanned aerial vehicle works on a plurality of crop rows, the unmanned aerial vehicle needs to fly along the crop rows, and also switches among the crop rows at the tail ends of the crop rows, and a road section obtained by the switching can be determined as a line-changing path.

It will be appreciated that in one embodiment, the first and second boundaries are defined by a plurality of line feed paths at both ends of a crop line.

The method for determining the first boundary and the second boundary through the line feed path can be directly obtained in the operation process of the movable equipment, and a user does not need to particularly specify the first boundary and the second boundary for planning an operation road section.

Fig. 10 is a schematic diagram of a process for determining a first boundary and a second boundary according to an embodiment of the present invention. As shown in fig. 10, the gray area in fig. 10 also represents crop rows, and a user can control the unmanned aerial vehicle to fly to a first crop row in the operation area, which needs to start operation, then, with the purpose of line dotting, control the unmanned aerial vehicle to fly from the 1 st end to the 2 nd end in the first crop row, and acquire the heading and the current position of the unmanned aerial vehicle at the 1 st end through related keys so as to obtain a first boundary; and then controlling the unmanned plane to operate along the central line of the first crop row and fly to the 2 nd end corresponding to the crop, thereby obtaining a reference operation road section, wherein when the direction and the position of the reference operation road section are known, a plurality of other operation road sections on two sides of the reference operation road section can be generated based on the reference operation road section and the set operation parameters. When the unmanned aerial vehicle flies to the end point of the standard operation road section, namely the 2 nd end, the unmanned aerial vehicle can be directly controlled to change the operation line, and then the rest operation road sections on the left side or the right side of the first operation route are selected to be effective operation road sections based on the line changing direction of the unmanned aerial vehicle, and operation is performed. In addition, the second boundary may be obtained based on the scheme described above, or may be obtained directly based on a tangent line of the unmanned aerial vehicle line feed path.

S905, updating to obtain the planned operation route of the movable equipment.

The present embodiment provides a method for determining a second boundary on the basis of the above embodiment. Based on the method, the second boundary can be rapidly and accurately determined by combining the operation of the user in the use process of the movable equipment, and the planning efficiency of the whole operation road section is improved.

On the basis of the above embodiment, optionally, acquiring second location information and second direction information of the mobile device includes:

acquiring position information of a plurality of track points of the movable equipment in the dotting process so as to obtain second position information; fitting according to a plurality of track point position information in the second position information to obtain the second direction information, or obtaining the second direction information according to a connecting line of two track points with a preset interval in the second position information; or alternatively

Acquiring current position information of the movable equipment to obtain second position information, and determining the second direction information based on the current direction of the movable equipment; or alternatively

Acquiring a line feed path of the movable equipment from a reference operation road section to another operation road section; and acquiring the second position information and the second direction information based on the line feed path.

The movable device can acquire a plurality of pieces of track point position information in the dotting process, and one or more pieces of track point position information can be determined to be second position information. And fitting according to the position information of a plurality of track points in the second position information to obtain the second direction information, or obtaining the second direction information according to the connecting line of two track points with a preset interval in the second position information.

The plurality of track point position information is subjected to straight line fitting, so that second direction information can be obtained, or the direction of the second boundary can be determined to be parallel to the straight line obtained by fitting.

In addition, the second direction information can be determined according to the position information and the pointing information of the unmanned aerial vehicle.

In addition to the two modes described above, the second direction information may be determined based on a line feed path from the reference link to another link. It will be appreciated that the line feed path is based on user instructions, for example, the user has a current reference work segment switched to a second proposed work segment, and the second boundary may be determined based on the path generated during the line feed.

The embodiment provides a plurality of second boundary determination modes, can cope with different use demands of users, and the determination logic of the second boundary is easy to understand, does not need to do a great deal of use training work for the users, and is simple and easy to use.

In a possible embodiment, optionally, generating the remaining job segments parallel to the reference job segment includes:

acquiring operation parameters of an operation road section;

generating other operation road sections parallel to the reference operation road section according to the operation parameters and the reference operation road section; the rest operation road sections are distributed on one side or two sides of the basic operation road section.

In an actual scenario, the unmanned plane will follow preset operation parameters, which may include: atomization amount, spraying amount, flying speed, flying height, acre consumption, the number of covered crop rows and the like. When the user considers that the unmanned aerial vehicle finishes working on the reference working section, a working end instruction can be output through a remote control. The unmanned aerial vehicle can also be closed to execute the operation function through the application program of the mobile phone terminal, and only the flying operation is performed.

Based on the operation parameters, the user can control the unmanned aerial vehicle to a reference operation road section in the target operation area through the remote controller, wherein, because the user sets the related operation parameters through the display terminal application program before starting operation or is synchronized into the application program by the cloud based on the default operation parameters of the current operation type, after acquiring the first boundary, the user can remotely control the unmanned aerial vehicle to fly to the starting point of the starting operation and control the unmanned aerial vehicle nose to face the operation direction through experience, wherein the operation direction can be acquired simultaneously with the starting point, such as controlling the unmanned aerial vehicle to fly to the operation starting point and then controlling the unmanned aerial vehicle to face the operation direction, and then clicking a determination button, such as controlling the unmanned aerial vehicle to fly to the operation starting point, and then clicking the determination button, the operation road section can be generated based on the operation starting point and the operation direction, and other operation road sections can be generated based on the basic operation road section.

The embodiment provides the acquisition mode of the operation parameters and the generation mode of the rest operation road sections based on the operation parameters, and by the arrangement, the accuracy of the operation road section planning result can be improved, so that the planned operation road section is matched with the real operation road section.

Fig. 11 is a schematic block diagram of a device for planning a working route of a mobile device according to an embodiment of the present invention, where the device is configured to execute the above-described method for planning a working route of a mobile device, and the device has functional modules and beneficial effects corresponding to the execution method. As shown in fig. 11, the apparatus specifically includes:

a first boundary obtaining module 1101, configured to obtain a first boundary for limiting a position of one of end points of a working road section of a movable device;

a reference operation section acquisition module 1102, configured to acquire a reference operation section of the mobile device, and generate remaining operation sections parallel to the reference operation section;

and the planned route determining module 1103 is configured to obtain a second boundary for limiting the positions of the other end points of the reference working road section and the rest working road sections, and update and obtain a planned route of the mobile device.

In this embodiment of the present invention, a first boundary obtaining module is configured to obtain a first boundary for limiting a position of one end point of a working road section of a mobile device; the reference operation road section acquisition module is used for acquiring a reference operation road section of the movable equipment and generating other operation road sections parallel to the reference operation road section; and the planned operation route determining module is used for acquiring a second boundary for limiting the positions of the other end points of the reference operation road section and the rest operation road sections, and updating to obtain the planned operation route of the movable equipment. According to the scheme, the first boundary of the operation road section is acquired, the reference operation road section is acquired, and the second boundary of the operation road section is acquired, so that operation of a user in the operation area determining process in the use process of the movable equipment can be simplified, the operation efficiency is improved, and the use experience of the user is improved.

Fig. 12 is a schematic structural diagram of a job route planning apparatus for a mobile device according to an embodiment of the present invention, where, as shown in fig. 12, the apparatus includes a processor 1201, a memory 1202, an input device 1203, and an output device 1204; the number of processors 1201 in the device may be one or more, one processor 1201 being taken as an example in fig. 12; the processor 1201, memory 1202, input device 1203 and output device 1204 in the apparatus may be connected by a bus or other means, for example in fig. 12 by a bus connection. The memory 1202 is a computer readable storage medium that can be used to store software programs, computer executable programs, and modules, such as program instructions/modules corresponding to the method for planning a route for a mobile device in an embodiment of the present invention. The processor 1201 performs various functional applications of the device and data processing, i.e., implements the mobile device targeting methods described above, by executing software programs, instructions, and modules stored in the memory 1202. The input device 1203 may be used to receive entered numeric or character information and to generate key signal inputs related to user settings and function control of the apparatus. The output 1204 may include a display device such as a display screen.

The embodiments of the present invention also provide a storage medium containing computer executable instructions, which when executed by a computer processor are used to perform a method of job routing for a removable device, the method comprising:

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Furthermore, it should be noted that the scope of the methods and apparatus in the embodiments of the present application is not limited to performing the functions in the order shown or discussed, but may also include performing the functions in a substantially simultaneous manner or in an opposite order depending on the functions involved, e.g., the described methods may be performed in an order different from that described, and various steps may also be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solutions of the present application may be embodied essentially or in a part contributing to the prior art in the form of a computer software product stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) comprising several instructions for causing a terminal (which may be a mobile device, a handset, a computer, a server or a network device, etc.) to perform the methods described in the various embodiments of the present application.

The embodiments of the present application have been described above with reference to the accompanying drawings, but the present application is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those of ordinary skill in the art without departing from the spirit of the present application and the scope of the claims, which are also within the protection of the present application.

Claims

1. A method of job route planning for a mobile device, the method comprising:

2. The method of claim 1, wherein obtaining a first boundary for limiting one of the end points of the working segment of the mobile device comprises:

acquiring first position information and first direction information of the movable equipment according to a first dotting instruction;

and determining a first boundary according to the first position information and the first direction information.

3. The method for planning a working route of a movable apparatus according to claim 2, wherein acquiring first position information and first direction information of the movable apparatus comprises:

4. The working route planning method of a movable apparatus according to claim 1, wherein acquiring a reference working section of the movable apparatus comprises:

acquiring current position and pointing information of the movable equipment according to the route generation instruction, determining a reference working road section, or

Determining a reference operation road section according to the traveling track information of the movable equipment in the process of starting the reference operation road section to stopping the reference operation road section; or alternatively

And determining the reference operation road section according to the starting position of the movable equipment when starting to point the reference operation road section and the ending position when stopping to point the reference operation road section.

5. The method for planning a working route of a mobile device according to claim 4, wherein the reference working section of the mobile device is acquired in a boundary dotting mode, and the determining of the reference working section includes:

determining current boundary information according to the current position and the pointing information of the movable equipment, or the travelling track information, or the starting position and the ending position; determining the reference operation road section based on the current boundary information and the distance between the preset boundary and the route;

Or, the reference operation road section of the movable device is acquired in a route dotting mode, and the reference operation road section is determined, which comprises the following steps:

6. The method of job routing for a removable device according to claim 4, further comprising:

7. The working route planning method of a movable apparatus according to claim 1, wherein acquiring a second boundary for restricting another end point position of the reference working section and the remaining working sections includes:

when the movable equipment moves to the end position of the reference operation road section along the reference operation road section, acquiring second position information and second direction information of the movable equipment according to a second dotting instruction;

And determining a second boundary according to the second position information and the second direction information.

8. The method for planning a working route of a movable apparatus according to claim 7, wherein acquiring second position information and second direction information of the movable apparatus comprises:

9. The method of working route planning for a mobile device according to claim 1, wherein generating remaining working segments parallel to the reference working segment comprises:

Acquiring operation parameters of an operation road section;

10. The method of claim 1, wherein the first and second boundaries are used to characterize opposite boundary lines of a target plot area or a target crop edge area, or wherein the first and second boundaries are used to characterize a line along which a line of travel path between the planned travel routes of the mobile device is located or a line along which a tangent to the line of travel path is located.

11. The method of job routing for a removable device according to claim 1, further comprising:

before acquiring the second boundary, controlling the movable equipment to execute the operation along the reference operation road section to the end position of the reference operation road section;

after the second boundary is acquired, the movable device is controlled to execute the job along the planned job route.

12. The method for planning a working route of a mobile device according to claim 1, wherein after updating the proposed working route of the mobile device, the method further comprises:

13. A job route planning apparatus for a mobile device, the apparatus comprising:

14. A job route planning device for a mobile device, the device comprising: one or more processors; storage means for storing one or more programs which when executed by the one or more processors cause the one or more processors to implement the method of job routing for a mobile device of any of claims 1-12.

15. A storage medium storing computer executable instructions which, when executed by a computer processor, are for performing the method of job routing for a removable device as claimed in any one of claims 1 to 12.